A dexterous hand joint with overload protection mechanism

Abstract

This invention proposes a dexterous hand joint with an overload protection mechanism, comprising a dexterous hand joint body, a joint base, and a transmission shaft inside the joint base. Output bases are located at both ends of the transmission shaft, and clutch discs are located at both ends of the joint base. The clutch discs are slidably fitted onto the transmission shaft. A first clutch tooth is located on the side of the output base near the clutch disc, and a second clutch tooth, which engages with the first clutch tooth, is located on the side of the clutch disc near the output base. Under the action of a spring, the second clutch tooth of the clutch disc engages with the first clutch tooth of the output base to achieve torque transmission. Furthermore, in the event of torque overload, the clutch disc can slide and extend, disengaging the second clutch tooth of the clutch disc from the first clutch tooth of the output base, thus breaking the torque transmission and preventing structural damage due to torque overload.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a dexterous hand joint with an overload protection mechanism. Background Technology

[0002] The force perception ability of a dexterous hand is a fundamental prerequisite for achieving force control and compliance control, and it has a significant impact on improving the functional and operational levels of a dexterous hand. During torque transmission in the joints of a dexterous hand, overload or impact can occur, leading to plastic deformation and damage at the joint connections, thereby affecting the reliability of power transmission. Utility Model Content

[0003] To address the aforementioned problems, this invention proposes a dexterous hand joint with an overload protection mechanism, which more accurately solves the problems described above.

[0004] This utility model is achieved through the following technical solution:

[0005] This utility model proposes a dexterous hand joint with an overload protection mechanism, including a dexterous hand joint body. The dexterous hand joint body includes a joint base, and a transmission shaft is provided inside the joint base. Output bases are provided at both ends of the transmission shaft. Clutch discs are provided at both ends of the joint base and are slidably fitted onto the transmission shaft. A first clutch tooth is provided on the side of the output base near the clutch disc, and a second clutch tooth that cooperates with the first clutch tooth is provided on the side of the clutch disc near the output base. A pair of guide rib grooves are provided on the outer wall of the clutch disc, and the grooves of the guide rib grooves are aligned with the axial direction of the transmission shaft. A guide rib is integrally formed inside the joint base and slides in cooperation with the guide rib grooves. A second flange is provided at the outer end of one end of the output base, and a first flange is provided on the outer wall of the joint base. A first hydraulic cavity and a second hydraulic cavity are provided inside the joint base. Two hydraulic interfaces are provided on the outer wall of the joint base, which are respectively connected to the first hydraulic cavity and the second hydraulic cavity. A fluid guide groove is provided on the outer wall of the clutch disc.

[0006] Furthermore, both the first clutch tooth and the second clutch tooth are annular helical teeth, and the tooth profiles of the second clutch teeth at both ends of the transmission shaft are arranged in opposite directions.

[0007] Furthermore, both the first and second hydraulic chambers are equipped with springs, which are sleeved outside the transmission shaft and abut against the clutch disc.

[0008] Furthermore, the outer wall of the clutch disc near the output base has 2-3 piston ring grooves, and piston rings are fitted in the piston ring grooves. The piston rings are in close contact with the inner wall of the first hydraulic chamber or the second hydraulic chamber provided in the joint base.

[0009] Furthermore, bearings are provided at both ends of the joint base, and the bearings are rotatably connected to the output base.

[0010] The beneficial effects of this utility model are:

[0011] 1. Under the action of the spring, the second clutch tooth of the clutch disc engages with the first clutch tooth of the output base to realize torque transmission. In the case of torque overload, the clutch disc can slide and extend to disengage the second clutch tooth of the clutch disc from the first clutch tooth of the output base, thereby disconnecting the torque transmission and preventing structural damage caused by torque overload.

[0012] 2. In this utility model, the hydraulic interface is connected to an external hydraulic control system through a hydraulic pipe to fill or discharge hydraulic oil into the first hydraulic chamber and the second hydraulic chamber, thereby realizing the extension and retraction control of the clutch disc. When torque overload is detected, the connection or disconnection of torque transmission between the joint base and the transmission shaft is realized through hydraulic control, which is quick and effective. Attached Figure Description

[0013] Figure 1 This is a three-dimensional half-sectional view of the present invention;

[0014] Figure 2 This is a front sectional view of the structure of this utility model;

[0015] Figure 3 This is a three-dimensional structural diagram of the present invention;

[0016] Figure 4 This is a partial three-dimensional structural diagram of the present invention.

[0017] In the diagram: 1. Dexterous hand joint body; 101. Joint base; 1011. First hydraulic chamber; 1012. Second hydraulic chamber; 1013. Hydraulic interface; 1014. First flange; 1015. Guide rib; 102. Transmission shaft; 1021. Spring; 103. Output base; 1031. Bearing; 1032. Second flange; 1033. First clutch tooth; 104. Clutch disc; 1041. Second clutch tooth; 1042. Piston ring; 1043. Guide rib groove; 1044. Fluid guide groove. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] Example 1

[0020] A dexterous hand joint with an overload protection mechanism includes a dexterous hand joint body 1. The dexterous hand joint body 1 includes a joint base 101. A transmission shaft 102 is provided inside the joint base 101. Output bases 103 are provided at both ends of the transmission shaft 102. Clutch discs 104 are provided at both ends of the joint base 101. The clutch discs 104 are slidably fitted onto the transmission shaft 102. A first clutch tooth 1033 is provided on the side of the output base 103 near the clutch disc 104. A tooth engaging with the first clutch tooth is provided on the side of the clutch disc 104 near the output base 103. The second clutch tooth 1041, which is engaged with 1033, enables torque transmission between the clutch disc 104 and the output base 103. A pair of guide rib grooves 1043 are provided on the outer wall of the clutch disc 104. The grooves of the guide rib grooves 1043 are aligned with the axial direction of the transmission shaft 102. A guide rib 1015 is integrally formed in the joint base 101 and slides in conjunction with the guide rib grooves 1043. This allows the joint base 101 and the clutch disc 104 to transmit torque while also enabling the clutch disc 104 to slide axially within the cavity of the joint base 101.

[0021] Both the first clutch tooth 1033 and the second clutch tooth 1041 are annular helical teeth, and the tooth profiles of the second clutch teeth 1041 at both ends of the transmission shaft 102 are arranged in opposite directions, so that the joint base 101 and the transmission shaft 102 can transmit torque in both forward and reverse rotation. The outer end of the output base 103 is provided with a second flange 1032, and the outer wall of the joint base 101 is provided with a first flange 1014 for the assembly of the joint connector. The joint base 101 has a first hydraulic chamber 1011 and a second hydraulic chamber 1012 inside. The first hydraulic chamber 1011 and the second hydraulic chamber 1012 are each provided with a spring 1021. The spring 1021 is sleeved on the outside of the transmission shaft 102 and abuts against the clutch disc 104. Under the action of the spring 1021, the second clutch tooth 1041 of the clutch disc 104 meshes with the first clutch tooth 1033 of the output base 103 to realize torque transmission. Both ends of the joint base 101 are provided with bearings 1031, and the bearings 1031 are rotatably connected with the output base 103 to maintain the structural connection between the joint base 101 and the output base 103.

[0022] The technical solutions in the above embodiments of this application have at least the following technical effects or advantages: Under the action of the spring 1021, the second clutch tooth 1041 of the clutch disc 104 meshes with the first clutch tooth 1033 of the output base 103 to realize torque transmission. In the case of torque overload, the clutch disc 104 can slide and extend, so that the second clutch tooth 1041 of the clutch disc 104 disengages from the first clutch tooth 1033 of the output base 103, disconnecting the torque transmission and preventing structural damage caused by torque overload.

[0023] Example 2

[0024] The outer wall of the joint base 101 has two hydraulic interfaces 1013, which are respectively connected to the first hydraulic chamber 1011 and the second hydraulic chamber 1012. The hydraulic interfaces 1013 are connected to a hydraulic control system via hydraulic pipes to fill or discharge hydraulic oil into the first hydraulic chamber 1011 and the second hydraulic chamber 1012, thereby realizing the extension and retraction control of the clutch disc 104. The outer wall of the clutch disc 104 near the output base 103 has 2-3 piston ring grooves, and piston rings 1042 are fitted in the piston ring grooves. The piston rings 1042 are tightly fitted and slidably connected to the inner wall of the first hydraulic chamber 1011 or the second hydraulic chamber 1012 in the joint base 101, ensuring the stability of the hydraulic pressure inside the first hydraulic chamber 1011 and the second hydraulic chamber 1012 and preventing leakage. The outer wall of the clutch disc 104 has a fluid guide groove 1044 for fluid flow.

[0025] The technical solutions in the above embodiments of this application have at least the following technical effects or advantages: In this utility model, the hydraulic interface 1013 is connected to a hydraulic control system via a hydraulic pipe to fill or discharge hydraulic oil into the first hydraulic chamber 1011 and the second hydraulic chamber 1012, thereby realizing the extension and retraction control of the clutch disc 104. When torque overload is detected, the connection or disconnection of torque transmission between the joint base 101 and the transmission shaft 102 is realized through hydraulic control, which is quick and effective.

[0026] Of course, there may be other implementations of this utility model. Based on this implementation, other implementations obtained by those skilled in the art without any creative effort are all within the scope of protection of this utility model.

Claims

1. A dexterous hand joint with overload protection mechanism comprising a dexterous hand joint body (1), characterized in that, The dexterous hand joint body (1) includes a joint base (101), inside which is provided a transmission shaft (102). Output bases (103) are provided at both ends of the transmission shaft (102). Clutch discs (104) are provided at both ends of the joint base (101), and the clutch discs (104) are slidably fitted onto the transmission shaft (102). A first clutch tooth (1033) is provided on the side of the output base (103) near the clutch disc (104), and a second clutch tooth (1041) is provided on the side of the clutch disc (104) near the output base (103) to engage with the first clutch tooth (1033). A pair of guide rib grooves (1043) are provided on the outer wall of the clutch disc (104). The slotted guide of 043) is aligned with the axial direction of the transmission shaft (102). The joint base (101) is integrally formed with a guide rib (1015) that slides in conjunction with the guide rib groove (1043). One end of the output base (103) is provided with a second flange (1032) at its outer end. The outer wall of the joint base (101) is provided with a first flange (1014). The joint base (101) is provided with a first hydraulic chamber (1011) and a second hydraulic chamber (1012) inside. The outer wall of the joint base (101) is provided with two hydraulic interfaces (1013) that are respectively connected to the first hydraulic chamber (1011) and the second hydraulic chamber (1012). The outer wall of the clutch disc (104) is provided with a liquid guide groove (1044).

2. The dexterous hand joint with overload protection mechanism according to claim 1, characterized in that, The first clutch tooth (1033) and the second clutch tooth (1041) are both annular helical teeth, and the tooth profiles of the second clutch teeth (1041) at both ends of the transmission shaft (102) are arranged in opposite directions.

3. The dexterous hand joint with overload protection mechanism according to claim 1, characterized in that, Springs (1021) are provided inside the first hydraulic chamber (1011) and the second hydraulic chamber (1012). The springs (1021) are sleeved on the outside of the transmission shaft (102) and abut against the clutch disc (104).

4. The dexterous hand joint with overload protection mechanism according to claim 1, characterized in that, The outer wall of the clutch disc (104) near the output base (103) has 2-3 piston ring grooves, and a piston ring (1042) is fitted in the piston ring groove. The piston ring (1042) is in close contact with the inner wall of the first hydraulic chamber (1011) or the second hydraulic chamber (1012) provided in the joint base (101).

5. The dexterous hand joint with overload protection mechanism according to claim 1, wherein, Both ends of the joint base (101) are provided with bearings (1031), and the bearings (1031) are rotatably connected to the output base (103).

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